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DigitalRuneWheel Class
Represents a single wheel of a Vehicle.
Inheritance Hierarchy
SystemObject
  DigitalRune.Physics.SpecializedWheel

Namespace: DigitalRune.Physics.Specialized
Assembly: DigitalRune.Physics.Specialized (in DigitalRune.Physics.Specialized.dll) Version: 1.10.0.0 (1.10.0.0)
Syntax
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public class Wheel

The Wheel type exposes the following members.

Constructors
  NameDescription
Public methodWheel
Initializes a new instance of the Wheel class.
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Methods
  NameDescription
Public methodEquals
Determines whether the specified Object is equal to the current Object.
(Inherited from Object.)
Protected methodFinalize
Allows an object to try to free resources and perform other cleanup operations before it is reclaimed by garbage collection.
(Inherited from Object.)
Public methodGetHashCode
Serves as a hash function for a particular type.
(Inherited from Object.)
Public methodGetType
Gets the Type of the current instance.
(Inherited from Object.)
Protected methodMemberwiseClone
Creates a shallow copy of the current Object.
(Inherited from Object.)
Public methodToString
Returns a string that represents the current object.
(Inherited from Object.)
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Properties
  NameDescription
Public propertyAngularVelocity
Gets or sets the angular velocity of the wheel about the rotation axis.
Public propertyBrakeForce
Gets or sets the brake force.
Public propertyCollisionObject
Gets the collision object that defines collision detection behavior of the ray.
Public propertyFriction
Gets or sets the friction.
Public propertyGeometricObject
Gets the geometric object that defines the pose of the ray.
Public propertyGroundNormal
Gets the normal vector of the ground at the GroundPosition.
Public propertyGroundPosition
Gets the position where the wheel touches the ground.
Public propertyHasGroundContact
Gets a value indicating whether this wheel has ground contact.
Public propertyMaxSuspensionForce
Gets or sets the max suspension force.
Public propertyMinSuspensionLength
Gets or sets the minimal suspension length.
Public propertyMotorForce
Gets or sets the motor force.
Public propertyOffset
Gets or sets the wheel offset.
Public propertyPose
Gets the pose of the wheel in world space.
Public propertyRadius
Gets or sets the radius of the wheel.
Public propertyRay
Gets the ray.
Public propertyRollingFrictionForce
Gets or sets the rolling friction force.
Public propertyRollReduction
Gets or sets the roll reduction.
Public propertyRotationAngle
Gets or sets the rotation angle about the rolling axis.
Public propertySkidEnergy
Gets or sets the skid energy.
Public propertySteeringAngle
Gets or sets the steering angle.
Public propertySuspensionCompressionDamping
Gets or sets the suspension damping during compression.
Public propertySuspensionLength
Gets the current suspension length.
Public propertySuspensionRelaxationDamping
Gets or sets the suspension damping during relaxation.
Public propertySuspensionRestLength
Gets or sets the rest length of the suspension.
Public propertySuspensionStiffness
Gets or sets the suspension stiffness.
Public propertyTouchedBody
Gets the touched body (= the ground object).
Public propertyVehicle
Gets (or sets) the vehicle to which the wheel is attached.
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Remarks

The wheel is modeled as a short ray that samples the ground. The ray is attached to the car where the suspension is fixed. It shoots down (-y in vehicle space). The ray length is equal to the suspension rest length + the wheel radius. If the SteeringAngle is 0, the wheel rotates (rolls) around the x-axis in vehicle space.

Each wheel can only be attached to one Vehicle

The wheel has a lot of parameters. Careful tuning is necessary to achieve the desired driving and sliding behavior.

See Also